A device and method for checking risks in a concrete pumping pipeline

Abstract

The present invention discloses a device and method for risk investigation in a concrete pumping pipeline, comprising a traveling device, an image acquisition device, a foreign object detection device and a sealing detection device. Through the image recognition of the image acquisition device and the air pressure detection of the sealing detection device, it is possible to simultaneously complete the detection of cracks and foreign objects in a long pipeline over a large range. When conducting risk investigation, firstly, a plane detection of foreign objects is performed based on the image information collected by the image acquisition device, and then a three-dimensional detection of foreign objects is performed based on the real-time speed value, vibration amplitude value and spring pressure value of the foreign object detection device. The foreign object is determined by combining the two detections, thereby enhancing the accuracy of the detection results and avoiding the terminal device from issuing erroneous warnings, resulting in a waste of human resources. After marking the crack risk point, the sealing detection device performs a sealing detection on the crack. It is determined to be a crack only when the air pressure data is abnormal, thereby eliminating misjudgment of image information and further improving the accuracy of the detection results.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline risk investigation, and in particular to a device and method for investigating risks in a concrete pumping pipeline. Background Art

[0002] Concrete construction in my country basically adopts the method of concrete pumping, because the concrete delivery pump pipe can quickly transport concrete to the place where it needs to be poured, which makes construction pouring convenient and quick. However, during the pouring process, since the inner diameter of the pumping pipe is generally divided into three types: 150mm, 125mm and 80mm, the smaller inner diameter increases the risk of foreign matter condensation and pipe blockage; and the pumping pipe is usually spliced by several sections of pump pipe, which will cause the risk of poor sealing at the joints; when the pumping pipe is pumped for a long time, the friction between the inner wall of the pump pipe and the concrete will cause the inner wall of the pipe to become thinner, and there is a risk of cracks in the pipe. Once these risks occur, the pump pipe will be blocked or leaked, causing construction quality accidents and delaying the construction period, causing huge losses to the construction unit. Therefore, it is very important to conduct risk inspections on the inner wall of the concrete pump pipe.

[0003] Although there are some equipment and methods for pipeline risk inspection on the market, it is impossible to accurately inspect risks in the complex environment of concrete pumping pipelines. An existing airbag pipeline robot provides a method to determine crack risk points by detecting whether magnetic leakage occurs in pipeline cracks caused by magnetic fields. This risk inspection equipment can solve the problem of detecting cracks on the inner wall of the pipeline and the size of the cracks. However, this equipment and method are limited by the length of the pipeline. Concrete pumping pipelines are usually composed of several sections of pumping pipelines of hundreds or thousands of meters. The length of the pump pipe will exceed the detection range of the equipment, reducing the detection accuracy. Secondly, this method cannot meet the industry's needs for detecting foreign objects in the pump pipe.

[0004] Therefore, how to quickly and intelligently conduct pre-risk inspections on the inner wall of concrete pump pipes to reduce the chance of pump pipe blockage, reduce safety risks, and avoid liability disputes is a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the Invention

[0005] In view of this, the present invention provides a risk investigation device and method in a concrete pumping pipeline, which can quickly and intelligently investigate the risks on the inner wall of the concrete pump pipe and reduce the probability of pump pipe blockage.

[0006] The specific technical solutions adopted in the present invention are as follows:

[0007] A risk investigation device in a concrete pumping pipeline comprises: a traveling device, an image acquisition device, a foreign object detection device and a sealing detection device; the image acquisition device is fixedly mounted on the front end top of the traveling device; the foreign object detection device comprises a plurality of suspension systems, which are mounted around the traveling device; the sealing detection device is distributed at the front and rear ends of the traveling device.

[0008] Furthermore, the image acquisition device includes a high-definition camera, a rotating mechanism and a lighting lamp; the rotating mechanism is installed on the front top of the traveling equipment, the high-definition camera is installed on the rotating mechanism, and the lighting lamp is evenly distributed around the high-definition camera.

[0009] Furthermore, the high-definition camera includes at least one of the following: a spherical camera, a hemispherical camera, and a gun-type camera.

[0010] Furthermore, the rotation mechanism is a three-degree-of-freedom rotation mechanism, and the rotation mechanism is formed by two rotating shafts perpendicular to the axial direction coupled to each other.

[0011] Furthermore, the suspension system of the foreign object detection device includes a motion speed sensor, a pressure sensor and an amplitude sensor; the motion speed sensor, the pressure sensor and the amplitude sensor are coupled via a circuit.

[0012] Furthermore, the traveling equipment is a pump pipe robot, a pipeline dredging machine, or a pipeline repair vehicle.

[0013] Furthermore, the sealing detection equipment includes a blocking module, an air pressure detection module and a pressurizing module; the blocking modules are in two groups, which are respectively arranged at the front end and the rear end of the traveling equipment, and the blocking modules include a blocking airbag, an air supply pipe and an air pump; the air pressure detection module and the pressurizing module are arranged in the sealing area formed between the two groups of blocking modules.

[0014] Furthermore, the risk investigation device also includes a terminal device and a data transmission device; the terminal device is arranged at the inlet of the pumping pipeline, and the data transmission device is arranged on the surface of the traveling device, for transmitting the detection data of the image acquisition device, the foreign object detection device and the sealing detection device to the terminal device.

[0015] A method for risk investigation in a concrete pumping pipeline, using the above-mentioned risk investigation device, comprises:

[0016] S1. Starting the traveling device to move in the pumping pipeline, the high-definition camera of the image acquisition device rotates to acquire image information in the pumping pipeline and transmits it to the terminal device, and the terminal device performs crack detection and foreign object plane detection on the image information;

[0017] When the detected crack exceeds the preset maximum length or maximum width, the crack is marked as a crack risk point; when the plane diameter of the detected foreign body exceeds the preset maximum diameter, the foreign body is marked as the first foreign body risk point;

[0018] S2. activating the foreign object detection device while activating the traveling device, wherein the motion speed sensor and the amplitude sensor of the foreign object detection device respectively collect the real-time speed value and vibration amplitude value of the traveling device, and the pressure sensor of the foreign object detection device collects the spring pressure value of the suspension system;

[0019] If any one of the real-time speed value, the vibration amplitude value, and the spring pressure value is abnormal, the abnormal location is marked as a second foreign matter risk point;

[0020] S3, the terminal device performs data interaction determination on the first foreign object risk point in step S1 and the second foreign object risk point in step S2, and issues a warning signal if the determination result is a foreign object, and does not issue a warning signal if the determination result is not a foreign object;

[0021] S4. The sealing detection device performs a sealing test on the crack risk point in step S1: the air pump inflates the sealing airbag through the air pipe, so that the sealing modules at the front and rear ends of the traveling device seal the space where the crack risk point is located; the pressurizing module pressurizes the sealing area, and the air pressure detection module performs air pressure detection. If the air pressure data is abnormal, it is determined that there is a crack or a loose pipeline joint;

[0022] S5. The traveling device continues to move in the pumping pipeline, repeating steps S1 to S4 until the entire pumping pipeline is checked. The terminal device summarizes the check result data and issues an early warning, wherein the check result data includes risk type, risk detection time, and risk location.

[0023] Further, in step S2, the maximum length is greater than or equal to 1 mm, the maximum width is greater than or equal to 5 mm, and the maximum diameter is greater than or equal to 5 mm.

[0024] Beneficial effects:

[0025] (1) A risk inspection device for concrete pumping pipelines, comprising a traveling device, an image acquisition device, a foreign body detection device, and a sealing detection device. Through image recognition by the image acquisition device and air pressure detection by the sealing detection device, cracks and foreign bodies can be detected simultaneously. Furthermore, the device is not limited by the length of the pipeline and can meet the inspection needs of large-scale and long-length pumping pipelines.

[0026] (2) The image acquisition equipment includes a high-definition camera, a rotating mechanism and a lighting lamp. By fixing the high-definition camera on the rotating mechanism, it is possible to complete comprehensive multi-angle acquisition of the pumping pipeline, and setting the lighting lamp can capture the image of the pumping pipeline more clearly, which is conducive to the subsequent analysis and detection of image information and ensures the accuracy of the detection results.

[0027] (3) When conducting risk investigation, first perform plane detection of foreign objects based on the image information of the image acquisition device, and then perform three-dimensional detection of foreign objects based on the real-time speed value, vibration amplitude value and spring pressure value of the foreign object detection device. The two types of detection are combined to determine the foreign objects, which enhances the accuracy of the judgment and detection results and avoids the terminal equipment issuing erroneous warnings, resulting in waste of human resources.

[0028] (4) After marking the crack risk point, the crack is also tested for sealing by the sealing detection equipment. Only when the air pressure data is abnormal is it determined to be a crack or a loose joint. This can eliminate the possibility of misjudgment of image information and further improve the accuracy of the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of a risk investigation device in a concrete pumping pipeline according to the present invention;

[0030] Figure 2 It is a structural schematic diagram of the rotating mechanism of the image acquisition device of the present invention;

[0031] Figure 3 This is a schematic diagram of the positional relationship between the high-definition camera and the lighting lamp of the image acquisition device of the present invention;

[0032] Among them, 1-image acquisition device, 2-rotation mechanism, 21-y-direction rotation axis, 22-x-direction rotation axis, 23-main rotation axis, 3-blocking airbag, 4-travel equipment, 5-air pressure detection sensor, 6-air pipe, 7-pressurization module, 8-inflating pump, 9-foreign object detection equipment, 10-data transmission equipment, 11-pumping pipeline, 12-terminal equipment, 13-lighting lamp. DETAILED DESCRIPTION

[0033] The present invention provides a device and method for risk screening in a concrete pumping pipeline, comprising a traveling device, an image acquisition device, a foreign object detection device, and a sealing detection device. Through image recognition by the image acquisition device and air pressure detection by the sealing detection device, cracks and foreign objects can be detected simultaneously. At the same time, it is not limited by the length of the pipeline and can meet the detection needs of large-scale and long-length pumping pipelines. When performing risk screening, foreign objects are first detected in plane based on the image information of the image acquisition device. Then, foreign objects are detected in three dimensions based on the real-time speed value, vibration amplitude value, and spring pressure value of the foreign object detection device. The two detection methods are combined to determine foreign objects, thereby enhancing the accuracy of the detection results and avoiding the terminal device issuing erroneous warnings, resulting in waste of human resources. At the same time, crack detection is performed based on the image information of the image acquisition device. After marking the crack risk point, the sealing detection device also performs a sealing test on the crack. Only when the air pressure data is abnormal is it determined to be a crack or joint. This can eliminate the possibility of misjudgment of image information and further improve the accuracy of the detection results.

[0034] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0035] The embodiment of the present invention provides a device for checking risks in a concrete pumping pipeline. Figure 1 This is a schematic diagram of the structure of a risk investigation device in a concrete pumping pipeline according to the present invention. Figure 1 As shown, it includes: traveling equipment 4, image acquisition equipment 1, foreign matter detection equipment 9 and sealing detection equipment.

[0036] The image acquisition device 1 is fixedly installed on the front top of the traveling device 4; the foreign object detection device 9 includes multiple suspension systems, which are installed around the traveling device; the sealing detection equipment is distributed at the front and rear ends of the traveling device 4.

[0037] In a specific embodiment, the sealing detection device includes a blocking module, an air pressure detection module and a pressurizing module; the blocking modules are arranged in two groups, respectively at the front and rear ends of the traveling device, and the blocking modules include a blocking airbag, an air supply pipe and an air pump; the air pressure detection module and the pressurizing module are arranged in the sealing area formed between the two groups of blocking modules. Figure 1 As shown, the sealing detection device includes: a blocking module, an air pressure detection sensor 5 (air pressure detection module) and a pressurizing module 7. The blocking module includes a blocking airbag 3, an air delivery pipe 6 and an air pump 8.

[0038] In the actual implementation process, the sealing detection equipment is used to detect the sealing of the pipeline. The situations that may affect the sealing of the pipeline include: pipeline cracks, loose pipeline joints, and pipeline perforations.

[0039] In a specific embodiment, the image acquisition device 1 includes a high-definition camera, a rotating mechanism 2 and a lighting lamp 13; the rotating mechanism 2 is installed on the front top of the traveling device 4, the high-definition camera is installed on the rotating mechanism 2, and the lighting lamp 13 is evenly distributed around the high-definition camera.

[0040] In a specific embodiment, the rotating mechanism 2 is a three-degree-of-freedom rotating mechanism, and the rotating mechanism 2 is formed by two rotating shafts perpendicular to the axial direction coupled to each other. Figure 2 Schematic diagram of the structure of the rotating mechanism of the image acquisition device of the present invention, as shown in FIG. Figure 2 As shown, the rotation mechanism includes three rotation axes, namely: a y-direction rotation axis 21, an x-direction rotation axis 22, and a main rotation axis 23. The rotation mechanism provided in the embodiment of the present invention is a three-degree-of-freedom rotation mechanism.

[0041] In a specific embodiment, the high-definition camera includes at least one of the following: a spherical camera, a hemispherical camera, and a gun-type camera.

[0042] Figure 3 Schematic diagram of the positional relationship between the high-definition camera and the lighting of the image acquisition device of the present invention, as shown in FIG. Figure 3 As shown, a plurality of lighting lamps 13 are distributed around the image acquisition device 1, that is, the high-definition camera. The lighting lamps 13 can be evenly distributed around the high-definition camera.

[0043] In a specific embodiment, the suspension system of the foreign object detection device 9 includes a motion speed sensor, a pressure sensor, and an amplitude sensor; the motion speed sensor, the pressure sensor, and the amplitude sensor are coupled via a circuit.

[0044] In actual implementation, the suspension system may be an independent suspension system or a non-independent suspension system.

[0045] In a specific embodiment, the traveling device 4 is a pump pipe robot, a pipeline dredging machine, or a pipeline repair vehicle.

[0046] In a specific embodiment, the risk investigation device further includes a terminal device 12 and a data transmission device 10; Figure 1 As shown, the terminal device 12 is arranged at the inlet of the pumping pipeline 11. In actual implementation, the terminal device 12 can be arranged outside the pumping pipeline 11.

[0047] The data transmission device 10 is arranged on the surface of the traveling device 4 and is used to transmit the detection data of the image acquisition device 1 , the foreign object detection device 9 and the sealing detection device to the terminal device 12 .

[0048] In actual implementation, the data transmission between the terminal device 12 and the data transmission device 10 can be completed by wireless communication, or data interaction can be carried out in a wired manner, which is not limited here.

[0049] According to the risk investigation device of the above embodiment, an embodiment of the present invention further provides a risk investigation method in a concrete pumping pipeline, which uses the above risk investigation device and includes:

[0050] S1. Start the traveling device and move it in the pumping pipeline. The high-definition camera of the image acquisition device 1 rotates to collect image information in the pumping pipeline 11 and transmits it to the terminal device 12. The terminal device 12 performs crack detection and foreign body plane detection on the image information.

[0051] When the detected crack exceeds the preset maximum length or maximum width, the crack is marked as a crack risk point; when the plane diameter of the detected foreign body exceeds the preset maximum diameter, the foreign body is marked as the first foreign body risk point;

[0052] In actual implementation, crack detection may include joint leak detection and perforation detection, and based on the detection results, joint risk points and perforation risk points are marked.

[0053] S2. Activate the foreign object detection device 9 simultaneously with the traveling device 4. The motion speed sensor and amplitude sensor of the foreign object detection device 9 respectively collect the real-time speed value and vibration amplitude value of the traveling device. The pressure sensor of the foreign object detection device 9 collects the spring pressure value of the suspension system.

[0054] If any of the real-time speed value, vibration amplitude value, and spring pressure value is abnormal, the abnormal point will be marked as the second foreign matter risk point;

[0055] S3. The terminal device 12 performs data interaction determination on the first foreign object risk point in step S1 and the second foreign object risk point in step S2. If the determination result is a foreign object, a warning signal is issued; if the determination result is not a foreign object, no warning signal is issued;

[0056] S4. The sealing testing device performs a sealing test on the crack risk point in step S1: the air pump 8 inflates the sealing airbag 3 through the air pipe 6, so that the sealing modules at the front and rear ends of the traveling device 4 seal the space where the crack risk point is located; the pressurizing module 7 pressurizes the sealing area, and the air pressure detection module, i.e., the air pressure detection sensor 5, performs air pressure detection. If the real-time air pressure data is abnormal, it is determined that there is a crack or a loose pipeline joint;

[0057] In actual implementation, the air pressure data is judged to be abnormal by comparing the slope k of the linear equation of the real-time air pressure data with the preset standard slope K. If the difference exceeds a preset or acceptable range, the air pressure data is considered abnormal, indicating a crack or loose pipe joint. The linear equation is fitted by the air pressure data and time.

[0058] S5. The traveling device 4 continues to move in the pumping pipeline 11, repeating steps S1 to S4 until the entire pumping pipeline 11 is checked. The terminal device 12 summarizes the check result data and issues an early warning, wherein the check result data includes the risk type, risk detection time and risk location.

[0059] In a specific embodiment, in step S2, the maximum length is greater than or equal to 1 mm, the maximum width is greater than or equal to 5 mm, and the maximum diameter is greater than or equal to 5 mm.

[0060] In the actual implementation process, before the above step S1, it is necessary to prepare a traveling device that can move in the pumping pipeline and is equipped with risk investigation equipment and place it at the inlet of the pump pipe.

[0061] In summary, the embodiments of the present invention provide a device and method for risk screening within concrete pumping pipelines, particularly suitable for risk screening within extremely long concrete pumping pipelines, i.e., tens to hundreds of meters, or even thousands of meters. This device is particularly suitable for crack detection in multi-section concrete pumping pipelines, joint detection at interfaces, and foreign object detection within pumping pipelines, demonstrating excellent practical effectiveness and high detection accuracy.

[0062] The above specific embodiments merely illustrate the design principles of the present invention. The shapes and names of the components described herein may vary and are not limiting. Therefore, those skilled in the art may modify or substitute equivalents for the technical solutions described in the above embodiments. Such modifications and substitutions, without departing from the inventive spirit and technical solutions of the present invention, shall fall within the scope of protection of the present invention.

Claims

1. A method for risk investigation in a concrete pumping pipeline, characterized in that: The risk screening device in the concrete pumping pipeline is used for this purpose. The device includes: a traveling device, an image acquisition device, a foreign body detection device, and a sealing detection device; it also includes a terminal device and a data transmission device; The image acquisition device is fixedly installed on the front top of the traveling device; The foreign object detection device includes a plurality of suspension systems, and the suspension systems are installed around the traveling device; The sealing detection equipment is distributed at the front end and the rear end of the traveling equipment; The image acquisition device includes a high-definition camera, a rotating mechanism and a lighting lamp; The rotating mechanism is installed on the front top of the traveling equipment, the high-definition camera is installed on the rotating mechanism, and the lighting lamps are evenly distributed around the high-definition camera; The suspension system of the foreign object detection device includes a motion speed sensor, a pressure sensor and an amplitude sensor; The sealing detection equipment includes a sealing module, an air pressure detection module and a pressurizing module; There are two groups of blocking modules, which are respectively arranged at the front end and the rear end of the traveling equipment. The blocking modules include a blocking airbag, an air pipe and an air pump. The air pressure detection module and the pressurizing module are arranged in the sealing area formed between the two groups of blocking modules; The method comprises: S1. Starting the traveling device to move in the pumping pipeline, the high-definition camera of the image acquisition device rotates to acquire image information in the pumping pipeline and transmits it to the terminal device, and the terminal device performs crack detection and foreign object plane detection on the image information; When the detected crack exceeds the preset maximum length or maximum width, the crack is marked as a crack risk point; when the plane diameter of the detected foreign body exceeds the preset maximum diameter, the foreign body is marked as the first foreign body risk point; S2. activating the foreign object detection device while activating the traveling device, wherein the motion speed sensor and the amplitude sensor of the foreign object detection device respectively collect the real-time speed value and vibration amplitude value of the traveling device, and the pressure sensor of the foreign object detection device collects the spring pressure value of the suspension system; If any one of the real-time speed value, the vibration amplitude value, and the spring pressure value is abnormal, the abnormal location is marked as a second foreign matter risk point; S3, the terminal device performs data interaction determination on the first foreign object risk point in step S1 and the second foreign object risk point in step S2, and issues a warning signal if the determination result is a foreign object, and does not issue a warning signal if the determination result is not a foreign object; S4. The sealing detection device performs a sealing test on the crack risk point in step S1: the air pump inflates the sealing airbag through the air pipe, so that the sealing modules at the front and rear ends of the traveling device seal the space where the crack risk point is located; the pressurizing module pressurizes the sealing area, and the air pressure detection module performs air pressure detection. If the air pressure data is abnormal, it is determined that there is a crack or a loose pipeline joint; S5. The traveling device continues to move in the pumping pipeline, repeating steps S1 to S4 until the entire pumping pipeline is checked. The terminal device summarizes the check result data and issues an early warning, wherein the check result data includes risk type, risk detection time, and risk location.

2. The method according to claim 1, wherein In step S2, the maximum length is greater than or equal to 1 mm, the maximum width is greater than or equal to 5 mm, and the maximum diameter is greater than or equal to 5 mm.

3. The method according to claim 1 or 2, wherein: The high-definition camera includes at least one of the following: a spherical camera, a hemispherical camera, and a gun-type camera.

4. The method according to claim 1 or 2, wherein: The rotating mechanism is a three-degree-of-freedom rotating mechanism, and the rotating mechanism is formed by coupling two rotating shafts perpendicular to the axial direction.

5. The method according to claim 1 or 2, wherein: The motion speed sensor, the pressure sensor, and the amplitude sensor are coupled via a circuit.

6. The method according to claim 1 or 2, wherein: The traveling equipment is a pump pipe robot, a pipeline dredging machine, or a pipeline repair vehicle.

7. The method according to claim 1 or 2, wherein: The terminal device is arranged at the inlet of the pumping pipeline, and the data transmission device is arranged on the surface of the traveling device, and is used to transmit the detection data of the image acquisition device, the foreign matter detection device and the sealing detection device to the terminal device.

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